شماره ركورد كنفرانس :
3208
عنوان مقاله :
An Experimental Study on the PID and Fuzzy-PID Controllers on a Designed Two-Wheeled Self- Balancing Autonomous Robot
پديدآورندگان :
Sadeghian, Rasoul Department of Electrical, Biomedical and Mechatronics Engineering - Qazvin Branch Islamic Azad University , Tale Masoule, Mehdi Department of Electrical, Biomedical and Mechatronics Engineering - Qazvin Branch Islamic Azad University
كليدواژه :
Self-balancing robot , Genetic algorithm , Tuning , PID , Fuzzy-PID , Simulation
عنوان كنفرانس :
چهارمين كنفرانس بين المللي كنترل، ابزار دقيق و اتوماسيون
چكيده لاتين :
This paper presents a dynamic model and control
strategies for a two-wheeled self-balancing robot. The dynamic
model of the under study two-wheeled self-balancing robot is
calculated based on Newtonian method and the control strategies
is designed based on the calculated dynamic model which is
constructed for this paper. The parameters of the proposed robot
which are used for controlling the proposed robot are tilt angle
and displacement of the proposed robot. Based on the system
zeroes and poles location which are calculated based on transfer
functions of the under study robot, proportional derivative and
proportional integral derivative controllers are designed. The
controllers parameters are tuned with the Genetic algorithm.
Fuzzy logics are used to improve the balance ability especially
under external forces. The experimental results of implementing
the proportional derivative controller represented that a slight
vibration is appeared on the body of the proposed robot and it
fell down after few seconds. The proportional integral derivative
controller improved the stability of the proposed robot but the
robot fell down when an external force is applied on the body of
it. After implementing the designed Fuzzy-PID controller on the
under study two-wheeled self-balancing robot, the stability of the
under study two wheel self-balancing robot under external forces
is improved impressively.